Configure ISP for Download -
The final step of setup is to configure for an In-System Programmer, if you are using an FTDI cable, you're
already done with setup, just select "Arduino Diecimila, Duemilanove, or Nano w/ ATmega168" as your board type
and skip to step 4.

Make sure that the Arduino IDE is not running, then open your preferences.txt file. Edit the line that says
upload.using= to:

upload.using=avrispv2 if using the older Pololu ISP

upload.using=usbtinyisp if using the USB Tiny ISP

If using a Pololu ISP, you'll also need to add these lines to the programmers.txt file:

There are a number of sites with Arduino-related information. The Arduino website has a large
amount of documentation about using the Arduino and embedded programming. Documentation for the RoboController
library can be found here.
The Trossen Robotics Forum can be a great resource for finding information and trouble shooting once you've
got the basics down.